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DevTekVE
1a8dd310ae
* Add support for TinyGrad model runner processing Introduced a new function `is_tinygrad_model` to detect TinyGrad as an active model runner. Updated the `is_stock_model` logic to account for TinyGrad models and added a new process entry for TinyGrad in the model manager. This enables handling TinyGrad models alongside existing configurations. adding modeld back Add support for `modeld_v2` and update paths for consistency Updated `SConscript` files to integrate `modeld_v2` alongside `modeld` and adjusted script paths for correct metadata handling. Adjusted various configurations and scripts, such as `labeler.yaml` and `build_release.sh`, to include `modeld_v2` and ensure cohesive project structure. Refactor imports to use updated `modeld_v2` paths. Replaced outdated `modeld` references with their `modeld_v2` counterparts for consistency and clarity across the codebase. Also updated `.gitignore` to accommodate new directory structure. This change ensures better maintainability and alignment with the new directory schema. Refactor and reorganize modeld to sunnypilot/modeld_v2 structure. Moved and renamed `modeld` components to the new `sunnypilot/modeld_v2` directory for better organization and modularity. Updated imports and file references to align with the new structure, ensuring compatibility and functionality. Streamlined project structure to improve maintainability and future development. * typo * Use `stock` model runner and refactor model checks. Replaces outdated model detection logic with unified `stock` runner integration, simplifying the decision flow for model selection. Includes `stock` as a new enum in the `Runner` type and updates affected references accordingly. * Handle missing 'sim_pose' in model outputs gracefully. Added conditional checks to ensure the code handles cases where 'sim_pose' is absent in the model outputs. Fallback behaviors use 'plan' data when 'sim_pose' is unavailable, preventing potential errors and enhancing robustness.
55 lines
2.5 KiB
Common Lisp
55 lines
2.5 KiB
Common Lisp
#define INTER_BITS 5
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#define INTER_TAB_SIZE (1 << INTER_BITS)
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#define INTER_SCALE 1.f / INTER_TAB_SIZE
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#define INTER_REMAP_COEF_BITS 15
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#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
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__kernel void warpPerspective(__global const uchar * src,
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int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
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__global uchar * dst,
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int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
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__constant float * M)
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{
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int dx = get_global_id(0);
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int dy = get_global_id(1);
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if (dx < dst_cols && dy < dst_rows)
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{
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float X0 = M[0] * dx + M[1] * dy + M[2];
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float Y0 = M[3] * dx + M[4] * dy + M[5];
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float W = M[6] * dx + M[7] * dy + M[8];
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W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
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int X = rint(X0 * W), Y = rint(Y0 * W);
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int sx = convert_short_sat(X >> INTER_BITS);
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int sy = convert_short_sat(Y >> INTER_BITS);
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short sx_clamp = clamp(sx, 0, src_cols - 1);
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short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
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short sy_clamp = clamp(sy, 0, src_rows - 1);
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short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
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int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
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int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
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int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
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int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
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short ay = (short)(Y & (INTER_TAB_SIZE - 1));
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short ax = (short)(X & (INTER_TAB_SIZE - 1));
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float taby = 1.f/INTER_TAB_SIZE*ay;
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float tabx = 1.f/INTER_TAB_SIZE*ax;
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int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
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int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
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int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
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int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
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int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
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int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3;
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uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
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dst[dst_index] = pix;
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}
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}
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